Method and device for automatically determining auxiliary mining mode, equipment, medium and program

Abstract

The invention discloses an automatic determination method and device for an auxiliary mining mode, equipment, a medium and a program. The method comprises the steps that in response to an auxiliary excavation instruction, a preparation posture of a working device when the excavator is static is obtained, and posture changes are monitored; when the movable arm is in a descending state, the rotating angle variable quantity of the movable arm is smaller than an angle threshold value, and the pressure variable quantity of the oil cylinder is larger than a pressure threshold value, the initial position coordinates of the bucket tip are obtained; the vertical distance between the bucket tip and the plane where the excavator is located is calculated according to the initial position coordinates, and an auxiliary excavation mode is determined; a shoveling posture requirement is obtained, and whether the activation condition of the excavation mode is met or not is judged according to the shoveling posture requirement; and if yes, carrying out automatic auxiliary mining according to the control program. The embodiment of the invention has the capability of adapting to different working environments and operation requirements, reduces the operation complexity and manual judgment time of a driver in the excavation process, and improves the overall excavation efficiency and the precision and accuracy of excavation operation.

Description

Technical Field

[0001] The present invention relates to the technical field of engineering machinery, and in particular to a method, device, equipment, medium and program for automatically determining an auxiliary excavation mode. Background Art

[0002] As a heavy machine, excavators play an important role in material excavation operations. However, when operating an excavator for excavation, the excavator driver needs to frequently operate the control handle of the working device. This process not only requires the coordination of the left and right hands, but also has high requirements on the driver's technical level. This means that the driver needs a long period of training and practice to master the excavator's operating skills.

[0003] In addition, since excavation operations usually need to be carried out continuously, the driver needs to maintain a high degree of concentration and precise operation for a long time, which results in high work intensity and poor working comfort due to long-term operation. Therefore, there is an urgent need for a method that can automatically determine the auxiliary excavation mode based on the working environment and perform the corresponding auxiliary excavation action to reduce manual participation and improve the convenience and efficiency of excavation work. Summary of the invention

[0004] Based on this, the present invention provides a method, device, equipment, medium and program for automatically determining an auxiliary excavation mode to solve the problems of high operation intensity, high technical requirements for the driver and poor operation comfort in the traditional excavator operation mode.

[0005] In a first aspect, an embodiment of the present invention provides a method for automatically determining an auxiliary mining mode, the method comprising:

[0006] In response to the driver's auxiliary excavation instruction, a preparatory posture of the working device of the excavator when it is stationary is obtained as a posture starting point, and the posture change of the working device of the excavator is monitored in real time, wherein the working device includes a boom, a dipper arm and a bucket;

[0007] When it is monitored that the boom is in a descending state, the change in the boom rotation angle is less than the angle threshold, and the change in the cylinder pressure is greater than the pressure threshold, the initial position coordinates of the bucket tip at the current moment are obtained and recorded;

[0008] Calculating the vertical distance between the bucket tip and the plane where the excavator is located according to the initial position coordinates, and determining the target auxiliary excavation mode according to the vertical distance;

[0009] Obtaining a target shoveling posture requirement corresponding to a target auxiliary excavation mode, and determining in real time whether an activation condition for auxiliary excavation is met according to the target shoveling posture requirement;

[0010] When the activation conditions for auxiliary excavation are met, the control program corresponding to the target auxiliary excavation mode input in advance is called to automatically control the boom, arm and bucket of the excavator respectively to complete an auxiliary excavation.

[0011] In a second aspect, an embodiment of the present invention further provides a device for automatically determining an auxiliary mining mode, the device comprising:

[0012] A preparatory posture monitoring module is used to respond to the driver's auxiliary excavation instruction, obtain the preparatory posture of the working device of the excavator when it is stationary as the posture starting point, and monitor the posture change of the working device of the excavator in real time, wherein the working device includes a boom, a dipper arm and a bucket;

[0013] The working device state determination module is used to obtain and record the initial position coordinates of the bucket tip at the current moment when it is monitored that the boom is in a descending state, the change in the boom rotation angle is less than the angle threshold, and the change in the cylinder pressure is greater than the pressure threshold;

[0014] an auxiliary excavation mode determination module, used to calculate the vertical distance between the bucket tip and the plane where the excavator is located according to the initial position coordinates, and determine the target auxiliary excavation mode according to the vertical distance;

[0015] A posture requirement determination module is used to obtain a target shoveling posture requirement corresponding to a target auxiliary excavation mode, and determine in real time whether an activation condition for auxiliary excavation is met according to the target shoveling posture requirement;

[0016] The auxiliary excavation execution module is used to call the pre-input control program corresponding to the target auxiliary excavation mode when the activation conditions of the auxiliary excavation are met, and automatically control the boom, dipper arm and bucket of the excavator to complete an auxiliary excavation.

[0017] In a third aspect, an embodiment of the present invention further provides an electronic device, the electronic device comprising:

[0018] at least one processor; and

[0019] a memory communicatively connected to the at least one processor; wherein,

[0020] The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute an auxiliary mining mode automatic determination method according to any embodiment of the present invention.

[0021] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement an auxiliary mining mode automatic determination method described in any embodiment of the present invention when executed.

[0022] In a fifth aspect, an embodiment of the present invention further provides a computer program product, which includes a computer program. When the computer program is executed by a processor, it implements an auxiliary mining pattern automatic determination method described in any embodiment of the present invention.

[0023] The technical solution of the embodiment of the present invention determines the target auxiliary excavation mode by calculating the vertical distance between the bucket tip and the plane where the excavator is located, so that the auxiliary excavation operation of the excavator has the ability to better adapt to different working environments and work requirements; by automatically determining and executing the control program corresponding to the target auxiliary excavation mode, the complexity of the driver's operation and the time for manual judgment during the excavation process are reduced. The above-mentioned automated control also reduces the driver's operating intensity during the excavation process, helps to reduce the driver's fatigue, improves the safety of the operation, and further improves the overall excavation efficiency and the precision and accuracy of the excavation operation.

[0024] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0026] Figure 1 is a flow chart of a method for automatically determining an auxiliary mining mode provided according to the first embodiment of the present invention;

[0027] Figure 2 is a reference diagram of the connection relationship of an excavator working device applicable to an embodiment of the present invention;

[0028] Figure 3 is a flowchart of another method for automatically determining an auxiliary mining mode provided according to the second embodiment of the present invention;

[0029] Figure 4 It is a schematic diagram of an excavation trajectory in a flat ground excavation mode to implement an embodiment of the present invention;

[0030] Figure 5 is a schematic diagram of the structure of an auxiliary mining mode automatic determination device provided according to Embodiment 3 of the present invention;

[0031] Figure 6 It is a structural schematic diagram of an electronic device for assisting in the automatic determination method of mining modes provided according to a fourth embodiment of the present invention. DETAILED DESCRIPTION

[0032] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0033] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0034] Embodiment 1

[0035] Figure 1 This is a flow chart of a method for automatically determining an auxiliary excavation mode provided in the first embodiment of the present invention. This embodiment is applicable to the case of performing auxiliary excavation control on an excavator. The method can be executed by a device for automatically determining an auxiliary excavation mode. The device can be implemented in the form of hardware and / or software. The device can be configured in a hydraulic excavator that supports automatic control. Figure 1 As shown, the method includes:

[0036] S110, in response to the driver's auxiliary excavation instruction, obtaining a preparatory posture of the working device of the excavator when it is stationary as a posture starting point, and monitoring the posture change of the working device of the excavator in real time, wherein the working device includes a boom, a dipper arm and a bucket.

[0037] The auxiliary excavation command issued by the driver means that based on actual needs, the current excavation task needs to be automatically executed in the form of auxiliary excavation. Therefore, the auxiliary excavation command from the driver is received as a signal to start auxiliary excavation. After receiving the auxiliary excavation signal, the preparation stage of initializing the working device begins. The preparatory posture provides a benchmark for subsequent monitoring and analysis, that is, by obtaining the preparatory posture, the initial position information of each working device can be obtained, and the subsequent status judgment can be performed by real-time monitoring of the posture changes of the working device.

[0038] S120, when it is monitored that the boom is in a descending state, the change in the boom rotation angle is less than the angle threshold, and the change in the cylinder pressure is greater than the pressure threshold, the initial position coordinates of the bucket tip at the current moment are obtained and recorded.

[0039] By monitoring the lowering state of the boom, the change in the boom rotation angle, and the change in the cylinder pressure, it is possible to accurately identify whether the excavator has entered a specific excavation state. It should be noted that the excavator used in the embodiment of the present invention is equipped with a hydraulic cylinder, which mainly generates force through the hydraulic transmission principle to achieve various actions of the excavator, such as the lifting and lowering of the boom, the extension and retraction of the dipper arm, and the rotation of the bucket, etc. As the boom continues to descend, the cylinder pressure will rise. When all conditions are met (the boom descends, the change in the rotation angle is less than the preset angle threshold, and the change in the cylinder pressure is greater than the preset pressure threshold), the initial position coordinates of the bucket tip at the current moment are obtained and recorded. The initial position coordinates are an important basis for the subsequent calculation of the vertical distance and determination of the excavation mode.

[0040] like Figure 2 As shown, the working device includes a boom, a bucket and a bucket. The boom part includes points C, B, F, E and D; the bucket part includes points E, G, M, K, Q, N and F; and the bucket part includes points K, Q and V. Point F is the connection point between the boom and the bucket, points Q and K are the connection points between the bucket and the bucket, point C is the connection point between the boom and the vehicle body, BA represents the boom cylinder, and α represents the boom rotation angle, which is the angle formed by the line connecting points C and F and the plane where the excavator is located.

[0041] S130, calculating a vertical distance between a bucket tip and a plane where the excavator is located according to the initial position coordinates, and determining a target auxiliary excavation mode according to the vertical distance.

[0042] The embodiment of the present invention provides two excavation modes in two different excavation scenarios, and the excavation environment is divided into flat ground and high platform. Flat ground generally refers to the excavator being on the ground and being on the same plane as the cargo to be loaded and unloaded and the dump truck, while the high platform refers to the excavator being on a higher plane, while the dump truck or the cargo to be loaded and unloaded is at a lower place. Therefore, by obtaining the position information of the shovel tip in the bucket and the position information of the current plane where the excavator is located, the vertical distance is calculated, and the current auxiliary excavation mode is further determined according to the correspondence between the preset vertical distance range and the excavation mode.

[0043] S140: Obtain a target shoveling posture requirement corresponding to the target auxiliary excavation mode, and determine in real time whether an activation condition for auxiliary excavation is met according to the target shoveling posture requirement.

[0044] The target assisted excavation mode is an assisted excavation mode selected according to actual conditions, and the shoveling posture requirement is a more specific determination of whether to activate the assisted excavation operation. In the above-mentioned embodiment of the invention, only the changes in the boom and the oil pressure are judged to be prone to contingency. Therefore, after meeting the above-mentioned state change requirements and determining the corresponding assisted excavation mode, the target assisted excavation mode can be further determined based on whether the shoveling posture corresponding to the target assisted excavation mode meets the requirements. If the shoveling posture requirements are met, the activation conditions for assisted excavation are met, and the corresponding assisted excavation operation will be automatically controlled.

[0045] S150. When the activation conditions for auxiliary excavation are met, a control program corresponding to the target auxiliary excavation mode input in advance is called to automatically control the boom, arm and bucket of the excavator respectively to complete an auxiliary excavation.

[0046] In the assisted excavation operation, each component in the working device has a corresponding control means, and the pre-input control program is pre-designed and debugged based on the corresponding target assisted excavation mode. By accurately controlling the motion trajectory and speed of each component in the working device, the driver is assisted in completing an excavation task.

[0047] Optionally, the process of automatically controlling the boom, arm and bucket of the excavator may also include:

[0048] The gear state of the control handle of the excavator is monitored in real time. If the gear state changes, the current automatic control is interrupted and the target auxiliary excavation mode is left.

[0049] When the excavator performs auxiliary excavation, the system will automatically adjust the posture of the excavator's boom, dipper and bucket according to the preset control program to achieve efficient excavation. However, in actual operation, the driver may need to adjust the operation of the excavator at any time according to the site conditions or emergencies. When the gear state of the control handle is detected to have changed, it means that the driver wants to manually adjust the operation of the excavator. At this time, the current automatic control process is automatically interrupted and the target auxiliary excavation mode is disengaged to ensure that the excavator can respond to the driver's manual control.

[0050] The technical solution of the embodiment of the present invention determines the target auxiliary excavation mode by calculating the vertical distance between the bucket tip and the plane where the excavator is located, so that the auxiliary excavation operation of the excavator has the ability to better adapt to different working environments and work requirements; by automatically determining and executing the control program corresponding to the target auxiliary excavation mode, the complexity of the driver's operation and the time for manual judgment during the excavation process are reduced. The above-mentioned automated control also reduces the driver's operating intensity during the excavation process, helps to reduce the driver's fatigue, improves the safety of the operation, and further improves the overall excavation efficiency and the precision and accuracy of the excavation operation.

[0051] Embodiment 2

[0052] Figure 3 This is a flow chart of another method for automatically determining an auxiliary mining mode provided by the second embodiment of the present invention. This embodiment is based on the above embodiment and is refined. Figure 3 As shown, the method includes:

[0053] S310, in response to the driver's auxiliary excavation instruction, obtaining the preparatory posture of the working device of the excavator when it is stationary as the posture starting point, and monitoring the posture change of the working device of the excavator in real time, wherein the working device includes a boom, a dipper arm and a bucket.

[0054] S320, when it is monitored that the boom is in a descending state, the change in the boom rotation angle is less than the angle threshold and the change in the cylinder pressure is greater than the pressure threshold, the initial position coordinates of the bucket tip at the current moment are obtained and recorded.

[0055] S330, calculating the vertical distance between the bucket tip and the plane where the excavator is located according to the initial position coordinates, and if the vertical distance between the bucket tip and the plane where the excavator is located is less than a distance threshold, determining that the auxiliary excavation mode is a flat ground excavation mode.

[0056] S340: If the vertical distance between the bucket tip and the plane where the excavator is located is greater than or equal to the distance threshold, and the bucket tip is located below the plane where the excavator is located, determine that the auxiliary excavation mode is the high platform loading excavation mode.

[0057] The specific decision logic for the auxiliary excavation mode is as follows: if the vertical distance between the bucket tip and the plane where the excavator is located is less than the distance threshold, it means that the bucket is close to the plane where the excavator is located in the current excavation environment, so it is inferred that the auxiliary excavation mode is flat ground excavation mode. Flat ground excavation is usually suitable for relatively flat ground, and the excavator needs to perform excavation operations on a flat surface or with a slight slope; if the vertical distance between the bucket tip and the plane where the excavator is located is greater than the distance threshold, and the bucket tip is below the plane where the excavator is located, it means that the bucket is far from the plane where the excavator is located in the current excavation environment, so it is inferred that the auxiliary excavation mode is high-platform loading excavation mode. High-platform loading excavation is usually suitable for operating scenarios where excavated materials need to be loaded onto vehicles or other equipment above the ground.

[0058] S350: Obtain a target shoveling posture requirement corresponding to the target auxiliary excavation mode, and determine in real time whether an activation condition for auxiliary excavation is met according to the target shoveling posture requirement.

[0059] Optionally, before determining in real time whether an activation condition for auxiliary excavation is met according to the target shoveling posture requirement, the following steps may also be included:

[0060] When the target auxiliary excavation mode is the flat ground excavation mode, the platform where the excavator is located is defined as the working surface;

[0061] When the target auxiliary excavation mode is high-platform loading excavation, the initial position of the bucket tip and the line connecting the intersection of the boom and the vehicle body are defined as the working surface;

[0062] Determine the angle between the bottom of the shovel and the working surface according to the initial position of the bucket tip, and determine the chord length of the excavation trajectory corresponding to the angle in a predefined excavation trajectory mapping table;

[0063] determining a chord height of a bucket digging trajectory according to a predetermined digging depth;

[0064] Drawing a target excavation trajectory of the bucket that satisfies the target auxiliary excavation mode based on the chord length and the chord height;

[0065] Further, calling a control program corresponding to the target auxiliary excavation mode input in advance to automatically control the boom, arm and bucket of the excavator respectively to complete an auxiliary excavation may include:

[0066] According to the working surface and the target excavation trajectory, a control program corresponding to the target auxiliary excavation mode input in advance is called to automatically control the boom, arm and bucket of the excavator respectively to complete an auxiliary excavation.

[0067] First, in different auxiliary excavation modes, the working surface is defined differently due to the different planes where the excavator is located. When the target auxiliary excavation mode is determined to be flat ground excavation, the platform where the excavator is located is directly defined as the working surface. This is because flat ground excavation is usually carried out on a relatively flat surface, and the position of the excavator is the working reference surface; when the target auxiliary excavation mode is determined to be high-platform loading excavation, the definition of the working surface becomes more complicated. At this time, the line connecting the initial position of the bucket tip (i.e. the point where excavation starts) and the intersection of the boom and the vehicle body is defined as the working surface. This is because high-platform loading excavation usually involves excavating materials from a lower position and loading them onto a higher vehicle, so the working surface is no longer a simple horizontal plane, but is dynamically determined based on the excavation starting point and the boom position.

[0068] Secondly, after determining the working surface, it is necessary to determine the angle between the bottom of the shovel and the working surface based on the initial position of the bucket tip. This angle reflects the degree of inclination of the bucket during the excavation process. Look up the chord length of the excavation trajectory corresponding to this angle in the pre-defined excavation trajectory mapping table, where the chord length refers to the horizontal projection length of the excavation trajectory, which determines the distance the bucket needs to move during the excavation process; the chord height is the height change of the excavation trajectory in the vertical direction, which is determined according to the predetermined excavation depth. The excavation depth is the depth to which the bucket needs to cut into the material, which determines the height to which the bucket needs to be lifted during the excavation process. The chord height and chord length together constitute the basic shape of the excavation trajectory. Based on the determined chord length and chord height, a target excavation trajectory for the bucket that meets the target assisted excavation mode can be drawn.

[0069] Easy to understand, Figure 4 The schematic diagram of the excavation trajectory in the flat ground excavation mode is shown. The bucket is composed of three points Q, K, and V. The tip of the bucket coincides with the point V, and the angle between the bottom of the bucket and the working surface is recorded as θ.

[0070] Optionally, according to the working surface and the target excavation trajectory, calling a pre-input control program corresponding to the target auxiliary excavation mode, automatically controlling the boom, the dipper arm and the bucket of the excavator respectively, and completing an auxiliary excavation, may include:

[0071] The bucket arm is controlled to be retracted toward the side close to the boom according to a preset first bucket arm speed, and the bucket is controlled to move along the target excavation trajectory according to a preset first bucket speed, and the retraction angle of the bucket bottom relative to the working surface is calculated in real time;

[0072] When the bucket closing angle is not greater than the preset first angle, the boom is controlled to move upward according to the preset first boom speed until the bucket closing angle is greater than the preset first angle;

[0073] When the bucket retraction angle is greater than the preset first angle, the boom is controlled to move upward according to the preset second boom speed to a target height corresponding to the target auxiliary excavation mode and then stops;

[0074] When the bucket retraction angle is greater than the preset first angle, the bucket arm speed that is retracted according to the preset first bucket arm speed is changed to the second bucket arm speed to continue to retract toward the boom side until the bucket arm stops when it is perpendicular to the plane where the excavator is located.

[0075] The embodiment of the present invention is a detailed description of how to control the boom, dipper arm and bucket of the excavator to automatically complete an excavation operation after determining the target auxiliary excavation mode (such as flat ground excavation or high platform loading excavation) and the corresponding target excavation trajectory. The dipper arm moves in the direction of the boom at a preset first speed (a pre-set speed suitable for the current excavation mode), that is, the dipper arm is retracted. This is done to adjust the position of the bucket so that it starts excavating along the preset target excavation trajectory. While the dipper arm is retracted, the bucket also moves along the target excavation trajectory at a preset speed, which means that the bucket will not only adjust its position as the dipper arm moves during the excavation process, but also perform precise excavation actions according to the target excavation trajectory. During the excavation process, the angle between the bottom of the bucket and the working surface, that is, the bucket retraction angle, is calculated in real time. This angle is an important indicator for evaluating the excavation depth and bucket posture.

[0076] If the bucket angle is less than or equal to the preset first angle (preset according to the auxiliary excavation mode and the excavation trajectory), the boom will start to move upward at the preset first speed, which is to adjust the overall posture of the excavator to ensure that the excavation process can proceed smoothly; the boom continues to move upward until the bucket angle is greater than the preset first angle. This step is to maintain a proper bucket posture during the excavation process to avoid over-excavation or under-excavation; when the bucket angle exceeds the preset first angle, the boom will continue to move upward at a different speed (preset second speed), which may be faster or slower, depending on the excavation mode and the current operation requirements. The boom will not stop until it moves to the target height corresponding to the target auxiliary excavation mode.

[0077] At the same time, when the bucket retraction angle is greater than the preset first angle, the speed of the bucket arm will also change from the preset first speed to the second speed, and continue to retract inward toward the boom. This step is to further adjust the position and posture of the bucket to ensure the accuracy and efficiency of the excavation process. The bucket arm will continue to retract until it is perpendicular to the plane where the excavator is located. This is a sign of the end of the excavation process, indicating that the bucket has completed the predetermined excavation track and depth.

[0078] S360: When the activation conditions for auxiliary excavation are met, a control program corresponding to the target auxiliary excavation mode input in advance is called to automatically control the boom, arm and bucket of the excavator to complete an auxiliary excavation.

[0079] S370. When the auxiliary excavation instruction is received from the driver again, the initial position coordinates of the bucket tip during the last auxiliary excavation are obtained and used as the historical position coordinates, and the position coordinates of the bucket tip at the current moment are read and used as the new initial position coordinates.

[0080] Since the initial position coordinates of the bucket tip before the start of auxiliary excavation have been acquired and recorded in the above-mentioned embodiment of the invention, after receiving a new round of auxiliary excavation instructions, the initial position coordinates of the bucket tip during the last auxiliary excavation are used as historical coordinates, and the current position coordinates of the bucket tip at the time of the auxiliary excavation operation are re-acquired as the initial position coordinates before the start of a new round of auxiliary excavation operations.

[0081] S380, calculating the position change amount between the historical position coordinates and the new position coordinates, and when the position change amount falls within a preset position change range, obtaining the target excavation trajectory of the previous auxiliary excavation.

[0082] S390. Determine the range coordinates of the last auxiliary excavation area based on the target excavation trajectory. If the new position coordinates of the bucket tip do not fall within the range coordinates, obtain the preparatory posture of the working device of the excavator when it is stationary again, and monitor the changes in the posture of the working device of the excavator in real time until the auxiliary excavation is completed.

[0083] If the calculated position change is within a preset and acceptable range, the target excavation trajectory recorded during the last auxiliary excavation is called, and the area range of the last auxiliary excavation, that is, the boundary of the excavation operation, is calculated based on the last target excavation trajectory. If the current position of the bucket tip is not within the range coordinates of the last excavation area, it means that the excavator bucket has moved to a completely new position and meets the conditions for a new round of auxiliary excavation. At this time, the steps starting from S110 are re-executed, and the auxiliary excavation mode is determined and the activation conditions are determined in sequence until the current auxiliary excavation task is completed.

[0084] The technical solution of the embodiment of the present invention, through the refinement of the overall solution, mainly provides a detailed explanation of the determination of the bucket excavation trajectory and the control means of each working device in the auxiliary excavation process. Specifically, by accurately determining the working surface and drawing the target excavation trajectory, the excavator can excavate according to the preset optimal path, reducing unnecessary actions and waiting time; through the preset control program, the excavator can automatically complete the excavation action without the need for manual operation by the driver, reducing the driver's labor intensity; the movement speed and direction of the boom, dipper arm and bucket are adjusted in real time according to parameters such as the excavation depth and bucket retraction angle, ensuring the smoothness of the excavation action and improving the excavation quality.

[0085] Embodiment 3

[0086] Figure 5 This is a schematic diagram of the structure of an auxiliary mining mode automatic determination device provided in the third embodiment of the present invention. Figure 5 As shown, the device comprises:

[0087] The preparatory posture monitoring module 510 is used to respond to the auxiliary excavation instruction of the driver, obtain the preparatory posture of the working device of the excavator when it is stationary as the posture starting point, and monitor the posture change of the working device of the excavator in real time, wherein the working device includes a boom, a dipper arm and a bucket;

[0088] The working device state determination module 520 is used to obtain and record the initial position coordinates of the bucket tip at the current moment when it is monitored that the boom is in a descending state, the change in the boom rotation angle is less than the angle threshold, and the change in the cylinder pressure is greater than the pressure threshold;

[0089] The auxiliary excavation mode determination module 530 is used to calculate the vertical distance between the bucket tip and the plane where the excavator is located according to the initial position coordinates, and determine the target auxiliary excavation mode according to the vertical distance;

[0090] The posture requirement determination module 540 is used to obtain a target shoveling posture requirement corresponding to a target auxiliary excavation mode, and determine in real time whether an activation condition for auxiliary excavation is met according to the target shoveling posture requirement;

[0091] The auxiliary excavation execution module 550 is used to call the pre-input control program corresponding to the target auxiliary excavation mode when the activation conditions of the auxiliary excavation are met, and automatically control the boom, arm and bucket of the excavator to complete an auxiliary excavation.

[0092] The technical solution of the embodiment of the present invention determines the target auxiliary excavation mode by calculating the vertical distance between the bucket tip and the plane where the excavator is located, so that the auxiliary excavation operation of the excavator has the ability to better adapt to different working environments and work requirements; by automatically determining and executing the control program corresponding to the target auxiliary excavation mode, the complexity of the driver's operation and the time for manual judgment during the excavation process are reduced. The above-mentioned automated control also reduces the driver's operating intensity during the excavation process, helps to reduce the driver's fatigue, improves the safety of the operation, and further improves the overall excavation efficiency and the precision and accuracy of the excavation operation.

[0093] Optionally, based on the above embodiments, the auxiliary mining mode determination module 330 may further include:

[0094] a flat-ground excavation mode determination unit, configured to determine that the auxiliary excavation mode is the flat-ground excavation mode if the vertical distance between the bucket tip and the plane where the excavator is located is less than a distance threshold;

[0095] The high platform loading excavation mode determination unit is used to determine that the auxiliary excavation mode is the high platform loading excavation mode if the vertical distance between the bucket tip and the plane where the excavator is located is greater than or equal to the distance threshold and the bucket tip is located below the plane where the excavator is located.

[0096] Optionally, based on the above embodiments, a bucket excavation trajectory determination unit may be further included, which is used to define the platform where the excavator is located as a working surface when the target auxiliary excavation mode is flat ground excavation before determining in real time whether the activation condition of auxiliary excavation is met according to the target shoveling posture requirement;

[0097] When the target auxiliary excavation mode is high-platform loading excavation, the initial position of the bucket tip and the line connecting the intersection of the boom and the vehicle body are defined as the working surface;

[0098] Determine the angle between the bottom of the shovel and the working surface according to the initial position of the bucket tip, and determine the chord length of the excavation trajectory corresponding to the angle in a predefined excavation trajectory mapping table;

[0099] determining a chord height of a bucket digging trajectory according to a predetermined digging depth;

[0100] A target excavation trajectory of the bucket satisfying the target auxiliary excavation mode is drawn based on the chord length and the chord height.

[0101] Optionally, based on the above embodiments, the auxiliary mining execution module 550 may include:

[0102] The control program calling unit is used to call the pre-input control program corresponding to the target auxiliary excavation mode according to the working surface and the target excavation trajectory, and automatically control the boom, dipper arm and bucket of the excavator to complete an auxiliary excavation.

[0103] Optionally, based on the above embodiments, the auxiliary mining execution module 550 may further include:

[0104] a first control program execution unit, for controlling the dipper arm to retract toward a side close to the boom according to a preset first dipper arm speed, and controlling the bucket to move along a target excavation trajectory according to a preset first bucket speed, and calculating in real time a retraction angle of the bucket bottom relative to the working surface;

[0105] A second control program execution unit is used for controlling the boom to move upward according to a preset first boom speed when the bucket closing angle is not greater than a preset first angle, until the bucket closing angle is greater than the preset first angle;

[0106] The third control program execution unit is used to control the boom to move upward to a target height corresponding to the target auxiliary excavation mode according to a preset second boom speed when the bucket retraction angle is greater than a preset first angle and stop;

[0107] The fourth control program execution unit is used to change the boom speed that is retracted according to the preset first boom speed to the second boom speed to continue retracting toward the boom side until the boom stops when the boom is perpendicular to the plane where the excavator is located when the bucket retraction angle is greater than the preset first angle.

[0108] Optionally, on the basis of the above embodiments, the device may further include: an auxiliary excavation repetition execution unit, which is used to obtain the initial position coordinates of the bucket tip during the last auxiliary excavation and use them as the historical position coordinates, and read the position coordinates of the bucket tip at the current moment and use them as the new initial position coordinates when receiving the auxiliary excavation instruction from the driver again after the boom, arm and bucket of the excavator are automatically controlled;

[0109] Calculate the position change between the historical position coordinates and the new position coordinates, and when the position change falls within the preset position change range, obtain the target excavation trajectory of the last auxiliary excavation;

[0110] The range coordinates of the last auxiliary excavation area are determined according to the target excavation trajectory. If the new position coordinates of the bucket tip do not fall within the range coordinates, the operation of obtaining the preparatory posture of the working device of the excavator when it is stationary is performed again, and the changes in the posture of the working device of the excavator are monitored in real time until this auxiliary excavation is completed.

[0111] Optionally, based on the above embodiments, it may also include: a gear status monitoring unit, which is used to monitor the gear status of the excavator's control handle in real time during the automatic control of the excavator's boom, dipper arm and bucket. If the gear status changes, the current automatic control is interrupted and the target auxiliary excavation mode is exited.

[0112] An auxiliary mining mode automatic determination device provided by an embodiment of the present invention can execute an auxiliary mining mode automatic determination method provided by any embodiment of the present invention, and has corresponding functional modules and beneficial effects of the execution method.

[0113] Embodiment 4

[0114] Figure 6 A schematic diagram of the structure of an electronic device 10 that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0115] like Figure 6 As shown, the electronic device 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0116] A number of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0117] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, digital signal processors (DSPs), and any appropriate processors, controllers, microcontrollers, etc. The processor 11 executes the various methods and processes described above, such as an auxiliary mining mode automatic determination method.

[0118] That is, in response to the driver's auxiliary excavation instruction, the preparatory posture of the working device of the excavator when it is stationary is obtained as the posture starting point, and the posture change of the working device of the excavator is monitored in real time, wherein the working device includes a boom, a dipper arm and a bucket;

[0119] When it is monitored that the boom is in a descending state, the change in the boom rotation angle is less than the angle threshold, and the change in the cylinder pressure is greater than the pressure threshold, the initial position coordinates of the bucket tip at the current moment are obtained and recorded;

[0120] Calculating the vertical distance between the bucket tip and the plane where the excavator is located according to the initial position coordinates, and determining the target auxiliary excavation mode according to the vertical distance;

[0121] Obtaining a target shoveling posture requirement corresponding to a target auxiliary excavation mode, and determining in real time whether an activation condition for auxiliary excavation is met according to the target shoveling posture requirement;

[0122] When the activation conditions for auxiliary excavation are met, the boom, arm and bucket of the excavator are automatically controlled according to the pre-input control program corresponding to the target auxiliary excavation mode to complete an auxiliary excavation.

[0123] In some embodiments, an auxiliary mining mode automatic determination method may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the auxiliary mining mode automatic determination method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform an auxiliary mining mode automatic determination method in any other appropriate manner (e.g., by means of firmware).

[0124] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0125] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0126] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0127] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0128] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0129] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0130] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0131] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for automatically determining an auxiliary mining mode, characterized in that: include: In response to the driver's auxiliary excavation instruction, a preparatory posture of the working device of the excavator when it is stationary is obtained as a posture starting point, and the posture change of the working device of the excavator is monitored in real time, wherein the working device includes a boom, a dipper arm and a bucket; When it is monitored that the boom is in a descending state, the change in the boom rotation angle is less than the angle threshold, and the change in the cylinder pressure is greater than the pressure threshold, the initial position coordinates of the bucket tip at the current moment are obtained and recorded; Calculating the vertical distance between the bucket tip and the plane where the excavator is located according to the initial position coordinates, and determining the target auxiliary excavation mode according to the vertical distance; Obtaining a target shoveling posture requirement corresponding to a target auxiliary excavation mode, and determining in real time whether an activation condition for auxiliary excavation is met according to the target shoveling posture requirement; When the activation conditions for auxiliary excavation are met, the control program corresponding to the target auxiliary excavation mode input in advance is called to automatically control the boom, arm and bucket of the excavator respectively to complete an auxiliary excavation.

2. The method according to claim 1, characterized in that And determining the auxiliary excavation mode according to the vertical distance includes: If the vertical distance between the bucket tip and the plane where the excavator is located is less than the distance threshold, the auxiliary excavation mode is determined to be the flat ground excavation mode; If the vertical distance between the bucket tip and the plane where the excavator is located is greater than or equal to the distance threshold, and the bucket tip is located below the plane where the excavator is located, the auxiliary excavation mode is determined to be the high platform loading excavation mode.

3. The method according to claim 2, before determining in real time whether the activation condition of auxiliary excavation is met according to the target shoveling posture requirement, further comprises: When the target auxiliary excavation mode is the flat ground excavation mode, the platform where the excavator is located is defined as the working surface; When the target auxiliary excavation mode is the high-platform loading excavation mode, the initial position of the bucket tip and the line connecting the intersection of the boom and the vehicle body are defined as the working surface; Determine the angle between the bottom of the shovel and the working surface according to the initial position of the bucket tip, and determine the chord length of the excavation trajectory corresponding to the angle in a predefined excavation trajectory mapping table; determining a chord height of a bucket digging trajectory according to a predetermined digging depth; Drawing a target excavation trajectory of the bucket that satisfies the target auxiliary excavation mode based on the chord length and the chord height; The control program corresponding to the target auxiliary excavation mode input in advance is called to automatically control the boom, arm and bucket of the excavator to complete an auxiliary excavation, including: According to the determined working surface and the target excavation trajectory, a control program corresponding to the target auxiliary excavation mode input in advance is called to automatically control the boom, arm and bucket of the excavator respectively to complete an auxiliary excavation.

4. The method according to claim 3, characterized in that According to the determined working surface and the target excavation trajectory, a control program corresponding to the target auxiliary excavation mode input in advance is called to automatically control the boom, the dipper arm and the bucket of the excavator respectively to complete an auxiliary excavation, including: The bucket arm is controlled to be retracted toward the side close to the boom according to a preset first bucket arm speed, and the bucket is controlled to move along the target excavation trajectory according to a preset first bucket speed, and the retraction angle of the bucket bottom relative to the working surface is calculated in real time; When the bucket closing angle is not greater than the preset first angle, the boom is controlled to move upward according to the preset first boom speed until the bucket closing angle is greater than the preset first angle; When the bucket retraction angle is greater than the preset first angle, the boom is controlled to move upward according to the preset second boom speed to a target height corresponding to the target auxiliary excavation mode and then stops; When the bucket retraction angle is greater than the preset first angle, the bucket arm speed that is retracted according to the preset first bucket arm speed is changed to the second bucket arm speed to continue to retract toward the boom side until the bucket arm stops when it is perpendicular to the plane where the excavator is located.

5. The method according to claim 3, characterized in that: After automatically controlling the excavator's boom, dipper and bucket, it also includes: When receiving the auxiliary excavation instruction from the driver again, the initial position coordinates of the bucket tip during the last auxiliary excavation are obtained and used as the historical position coordinates, and the position coordinates of the bucket tip at the current moment are read and used as the new initial position coordinates; Calculate the position change between the historical position coordinates and the new position coordinates, and when the position change falls within the preset position change range, obtain the target excavation trajectory of the last auxiliary excavation; The range coordinates of the last auxiliary excavation area are determined according to the target excavation trajectory. If the new position coordinates of the bucket tip do not fall within the range coordinates, the operation of obtaining the preparatory posture of the working device of the excavator when it is stationary is performed again, and the changes in the posture of the working device of the excavator are monitored in real time until this auxiliary excavation is completed.

6. The method according to claim 1, characterized in that The process of automatically controlling the boom, arm and bucket of the excavator also includes: The gear state of the control handle of the excavator is monitored in real time. If the gear state changes, the current automatic control is interrupted and the target auxiliary excavation mode is left.

7. An automatic determination device for auxiliary excavation mode, characterized in that: include: A preparatory posture monitoring module is used to respond to the driver's auxiliary excavation instruction, obtain the preparatory posture of the working device of the excavator when it is stationary as the posture starting point, and monitor the posture change of the working device of the excavator in real time, wherein the working device includes a boom, a dipper arm and a bucket; The working device state determination module is used to obtain and record the initial position coordinates of the bucket tip at the current moment when it is monitored that the boom is in a descending state, the change in the boom rotation angle is less than the angle threshold, and the change in the cylinder pressure is greater than the pressure threshold; an auxiliary excavation mode determination module, used to calculate the vertical distance between the bucket tip and the plane where the excavator is located according to the initial position coordinates, and determine the target auxiliary excavation mode according to the vertical distance; A posture requirement determination module is used to obtain a target shoveling posture requirement corresponding to a target auxiliary excavation mode, and determine in real time whether an activation condition for auxiliary excavation is met according to the target shoveling posture requirement; The auxiliary excavation execution module is used to call the pre-input control program corresponding to the target auxiliary excavation mode when the activation conditions of the auxiliary excavation are met, and automatically control the boom, dipper arm and bucket of the excavator to complete an auxiliary excavation.

8. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the method for automatically determining an auxiliary mining pattern according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement an auxiliary mining mode automatic determination method according to any one of claims 1 to 6 when executed.

10. A computer program product, characterized in that The computer program product comprises a computer program, and when the computer program is executed by a processor, the computer program implements an auxiliary mining mode automatic determination method according to any one of claims 1-6.

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